ros2 launch xarm_moveit_config _robot_moveit_common.launch.py

[NikolaRaicevic2001]

1) Error: "[move_group-2] You can start planning now! [move_group-2] [rviz2-1] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class rviz_default_plugins::displays::InteractiveMarkerDisplay. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open. [rviz2-1] at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp [rviz2-1] [INFO] [1727197825.732673335] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0128977 seconds [rviz2-1] [INFO] [1727197825.732702737] [moveit_robot_model.robot_model]: Loading robot model 'UF_ROBOT'... [rviz2-1] [INFO] [1727197825.732709036] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint [rviz2-1] [ERROR] [1727197828.804951930] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available [rviz2-1] [INFO] [1727197828.818515070] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params. [rviz2-1] [INFO] [1727197828.944064321] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.00436206 seconds [rviz2-1] [INFO] [1727197828.944128975] [moveit_robot_model.robot_model]: Loading robot model 'UF_ROBOT'... [rviz2-1] [INFO] [1727197828.944145776] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint [rviz2-1] [INFO] [1727197829.113352373] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor [rviz2-1] [INFO] [1727197829.114283100] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/monitored_planning_scene' [rviz2-1] [INFO] [1727197829.117786020] [interactive_marker_display_110266972503584]: Connected on namespace: /rviz_moveit_motion_planning_display/robot_interaction_interactive_marker_topic [rviz2-1] [INFO] [1727197829.133857603] [moveit_ros_visualization.motion_planning_frame]: group xarm6 [rviz2-1] [INFO] [1727197829.133872069] [moveit_ros_visualization.motion_planning_frame]: Constructing new MoveGroup connection for group 'xarm6' in namespace '' [rviz2-1] [INFO] [1727197829.136427694] [move_group_interface]: Ready to take commands for planning group xarm6. [rviz2-1] [INFO] [1727197829.136959049] [moveit_ros_visualization.motion_planning_frame]: group xarm6 [rviz2-1] [INFO] [1727197829.136994728] [moveit_ros_visualization.motion_planning_frame]: group xarm6 [rviz2-1] [INFO] [1727197829.150405690] [interactive_marker_display_110266972503584]: Sending request for interactive markers [rviz2-1] [INFO] [1727197829.178119009] [interactive_marker_display_110266972503584]: Service response received for initialization [move_group-2] [INFO] [1727197844.061417727] [moveit_move_group_default_capabilities.move_action_capability]: Received request

[rviz2-1] [INFO] [1727197844.062034034] [move_group_interface]: Plan and Execute request accepted [move_group-2] [INFO] [1727197845.061957649] [moveit_ros.current_state_monitor]: Didn't receive robot state (joint angles) with recent timestamp within 1.000000 seconds. Requested time 1727197844.061816, but latest received state has time 0.000000. [move_group-2] Check clock synchronization if your are running ROS across multiple machines! [move_group-2] [WARN] [1727197845.062036724] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Failed to fetch current robot state. [move_group-2] [INFO] [1727197845.062103970] [moveit_move_group_default_capabilities.move_action_capability]: Combined planning and execution request received for MoveGroup action. Forwarding to planning and execution pipeline. [move_group-2] [INFO] [1727197845.062214061] [moveit_ros.plan_execution]: Planning attempt 1 of at most 1 [move_group-2] [INFO] [1727197845.062231449] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'ompl' [move_group-2] [INFO] [1727197845.063495312] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'xarm6' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed. [move_group-2] [ERROR] [1727197845.087150212] [moveit_ros.trajectory_execution_manager]: Failed to reload controllers: controller_manager_ does not exist. [move_group-2] [ERROR] [1727197845.087188459] [moveit_ros.trajectory_execution_manager]: Failed to reload controllers: controller_manager_ does not exist. [move_group-2] [ERROR] [1727197845.087202090] [moveit_ros.trajectory_execution_manager]: Unable to identify any set of controllers that can actuate the specified joints: [ joint1 joint2 joint3 joint4 joint5 joint6 ] [move_group-2] [ERROR] [1727197845.087207638] [moveit_ros.trajectory_execution_manager]: Known controllers and their joints: [move_group-2] [move_group-2] [ERROR] [1727197845.087216536] [moveit_ros.plan_execution]: Apparently trajectory initialization failed [move_group-2] [INFO] [1727197845.087287409] [moveit_move_group_default_capabilities.move_action_capability]: Solution found but controller failed during execution [rviz2-1] [INFO] [1727197845.088361979] [move_group_interface]: Plan and Execute request aborted [rviz2-1] [ERROR] [1727197845.088492813] [move_group_interface]: MoveGroupInterface::move() failed or timeout reached "

2) Expected Behavior: Once moving the robot to a certain position and executing the planning the robot should also execute the motion

3) Actual Behavior: The robot executes the planning but fails to execute actual motion